/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_UTIL_SIMSTATECONSTRAINT_HPP_
#define RWSIM_UTIL_SIMSTATECONSTRAINT_HPP_

#include <rw/core/Ptr.hpp>

namespace rw { namespace kinematics {
    class State;
}}    // namespace rw::kinematics
namespace rwsim { namespace simulator {
    class DynamicSimulator;
}}    // namespace rwsim::simulator

namespace rwsim { namespace util {

    class SimStateConstraint
    {
      public:
        typedef rw::core::Ptr< SimStateConstraint > Ptr;

        virtual bool isSatisfied (const rw::kinematics::State& state,
                                  simulator::DynamicSimulator* sim) = 0;
    };
}}     // namespace rwsim::util
#endif /* SIMSTATECONSTRAINT_HPP_ */
